Search Results (516)

Ensuring the safe operation of large hydro-generators is essential for energy supply and economic development. Stator-winding single-phase grounding faults are among the most common failures in such generators. Conventional protection methods—such as fundamental voltage protection, third-harmonic voltage saturation, and low-frequency injection—lack fault location capability and cannot assess the fault severity. This paper proposes a stepwise variable-frequency pulse injection method for fault diagnosis and location in large hydro-generator stator windings. A finite element model of a salient-pole hydro-generator is established to analyze magnetic flux density and electromotive force distributions under normal and fault conditions, from which fault characteristics are derived. Equivalent circuit models suitable for low- and high-frequency pulse injection are developed. A bidirectional pulse injection circuit and algorithm are designed to identify the fault phase via terminal current vector characteristics, diagnose the faulty branch based on leakage loop equivalent inductance, and locate the fault point using voltage–current signal slopes. Simulation results validate the effectiveness of the proposed diagnostic approach. Full article

Field measurements of ground vibrations were conducted along the Paris–Brussels high-speed railway (HSR) to systematically analyze vibration characteristics generated by embankment and cutting sections. Utilizing the 2.5D finite element method (FEM), numerical models were developed for both earthworks to evaluate the influences of design parameters on ground vibration responses. Results demonstrate that train axle load dominates vibration amplitude in the near-track zone, while the superposition effect of adjacent wheelsets and bogies becomes predominant at larger distances. Vibration energy attenuates progressively with increasing distance from the track, with medium- and high-frequency components decaying more rapidly than low-frequency components. The dominant vibration frequency is determined by the fundamental train-loading frequency (f₁), which increases with train speed. Distinct attenuation patterns are identified between earthwork types: embankments exhibit a two-stage attenuation process, whereas cuttings undergo three stages, including a vibration rebound phenomenon at the slope crest. Furthermore, greater embankment height or cutting depth reduces ground vibrations, but beyond a critical threshold, further increases yield negligible benefits. A higher elastic modulus of the embankment material correlates with reduced vibrations, and steeper cutting slopes, while ensuring slope stability, contribute to additional mitigation. Full article

Accurate, scalable mapping of coral reef habitats is essential for monitoring ecosystem health and detecting change over time. In this study, we introduce a novel mathematically based nonlinear spectral unmixing method for benthic habitat classification, which provides sub-pixel estimates of benthic composition, capturing the mixed benthic composition within individual pixels. We compare its performance against two machine learning approaches: semi-supervised K-Means clustering and AdaBoost decision trees. All models were applied to high-resolution PlanetScope satellite imagery and ICESat-2-derived terrain metrics. Models were trained using a ground truth dataset constructed from benthic photoquadrats collected at Heron Reef, Australia, with additional input features including band ratios, standardized band differences, and derived ICESat-2 metrics such as rugosity and slope. While AdaBoost achieved the highest overall accuracy ($93.3\%$) and benefited most from ICESat-2 features, K-Means performed less well ($85.9\%$) and declined when these metrics were included. The spectral unmixing method uniquely captured sub-pixel habitat abundance, offering a more nuanced and ecologically realistic view of reef composition despite lower discrete classification accuracy ($64.8\%$). These findings highlight nonlinear spectral unmixing as a promising approach for fine-scale, transferable coral reef habitat mapping, especially in complex or heterogeneous reef environments. Full article

This paper addresses the challenges of inadequate trajectory tracking accuracy and limited parameter adaptability encountered by hip joints in lower-limb exoskeletons operating across multi-terrain environments. To mitigate these issues, we propose a hybrid control strategy that synergistically combines the slime mould algorithm (SMA) with fuzzy PID control, thereby improving the trajectory tracking performance in such diverse conditions. Initially, we established a dynamic model of the hip joint in the sagittal plane utilizing the Lagrange method, which elucidates the underlying motion mechanisms involved. Subsequently, we designed a fuzzy PID controller that facilitates dynamic parameter adjustment. The integration of the slime mould algorithm (SMA) allows for the optimization of both the quantization factor and the proportional factor of the fuzzy PID controller, culminating in the development of a hybrid control framework that significantly enhances parameter adaptability. Ultimately, we performed a comparative analysis of this hybrid control strategy against conventional PID, fuzzy PID, and PSO-fuzzy PID controls through MATLABR2023b/Simulink simulations as well as experimental tests across a range of multi-terrain scenarios including flat ground, inclines, and stair climbing. The results indicate that in comparison to PID, fuzzy PID, and PSO-fuzzy PID controls, our proposed strategy significantly reduced the adjustment time by 15.06% to 61.9% and minimized the maximum error by 39.44% to 72.81% across various terrains including flat ground, slope navigation, and stair climbing scenarios. Additionally, it lowered the steady-state error ranges by an impressive 50.67% to 90.75%. This enhancement markedly improved the system’s response speed, tracking accuracy, and stability, thereby offering a robust solution for the practical application of lower-limb exoskeletons. Full article

Accurate estimation of the forest canopy height is crucial in monitoring the global carbon cycle and evaluating progress toward carbon neutrality goals. The Global Ecosystem Dynamics Investigation (GEDI) mission provides an important data source for canopy height estimation at a global scale. However, the non-zero half-width of the transmitted laser pulses (NHWTLP) and the influence of terrain slope can cause waveform broadening and overlap between canopy returns and ground returns in GEDI waveforms, thereby reducing the estimation accuracy. To address these limitations, we propose a canopy height retrieval method that combines the deconvolution of GEDI’s transmitted waveforms with terrain slope constraints on the ground response function. The method consists of two main components. The first is performing deconvolution on GEDI’s effective return waveforms using their corresponding transmitted waveforms to obtain the true ground response function within each GEDI footprint, thereby mitigating waveform broadening and overlap induced by NHWTLP. This process includes constructing a convolution convergence function for GEDI waveforms, denoising GEDI waveform data, transforming one-dimensional ground response functions into two dimensions, and applying amplitude difference regularization between the convolved and observed waveforms. The second is incorporating terrain slope parameters derived from a digital terrain model (DTM) as constraints in the canopy height estimation model to alleviate waveform broadening and overlap in ground response functions caused by topographic effects. The proposed approach enhances the precision of forest canopy height estimation from GEDI data, particularly in areas with complex terrain. The results demonstrate that, under various conditions—including GEDI full-power beams and coverage beams, different terrain slopes, varying canopy closures, and multiple study areas—the retrieved height (rh) model constructed from ground response functions derived via the inverse deconvolution of the transmitted waveforms (IDTW) outperforms the RH (the official height from GEDI L2A) model constructed using RH parameters from GEDI L2A data files in forest canopy height estimation. Specifically, without incorporating terrain slope, the rh model for canopy height estimation using full-power beams achieved a coefficient of determination (R²) of 0.58 and a root mean square error (RMSE) of 5.23 m, compared to the RH model, which had an R² of 0.58 and an RMSE of 5.54 m. After incorporating terrain slope, the rh_g model for full-power beams in canopy height estimation yielded an R² of 0.61 and an RMSE of 5.21 m, while the RH_g model attained an R² of 0.60 and an RMSE of 5.45 m. These findings indicate that the proposed method effectively mitigates waveform broadening and overlap in GEDI waveforms, thereby enhancing the precision of forest canopy height estimation, particularly in areas with complex terrain. This approach provides robust technical support for global-scale forest resource assessment and contributes to the accurate monitoring of carbon dynamics. Full article

Unmanned Aerial Vehicle (UAV) photogrammetry technique offers significant potential for generating highly detailed digital surface models (DSM) of gullies. However, different flight schemes can considerably influence measurement accuracy. The objectives were (i) to evaluate the influences of flight altitude, photo overlap, Ground Control Points (GCPs), and other environmental factors on the accuracy of the UAV-derived DSMs and (ii) to analyze the main factors affecting the accuracy of UAV gully monitoring and explore flight schemes that balance accuracy and efficiency. The results indicated that DSM accuracy improved markedly as the number of GCPs increased from 0 to 3, with consideration given to both horizontal and vertical distribution. However, further increases in the number of GCPs did not lead to significant improvements. The accuracy of DSMs increased with a decrease in the flight altitude, but was not substantially affected by photo overlap when it exceeded 50%/40% The accuracy of DSM was significantly reduced by shadows, and flight altitude rather than slope gradient was identified as the key factor leading to high-error checkpoints (error > 0.1 m). The proportion of point clouds penetrating tree canopies decreased when the flight altitude was 150 m or higher, which could help reduce the influence of vegetation on the accuracy of DSMs. In general, with a reasonable spatial distribution of GCPs, flight altitude is the primary factor affecting monitoring accuracy. However, when balancing accuracy and efficiency, the optimal flight scheme was determined to be a flight altitude of 70 m, photo overlap of 80%/70%, and nine GCPs. Full article

In field exploration, disaster rescue, and complex terrain operations, the accuracy of ground type recognition directly affects the walking stability and task execution efficiency of legged robots. To address the problem of terrain recognition in complex ground environments, this paper proposes a high-precision classification method based on single-leg triaxial force signals. The method first employs a one-dimensional convolutional neural network (1D-CNN) module to extract local temporal features, then introduces a long short-term memory (LSTM) network to model long-term and short-term dependencies during ground contact, and incorporates a convolutional block attention module (CBAM) to adaptively enhance the feature responses of critical channels and time steps, thereby improving discriminative capability. In addition, an improved whale optimization algorithm (iBWOA) is adopted to automatically perform global search and optimization of key hyperparameters, including the number of convolution kernels, the number of LSTM units, and the dropout rate, to achieve the optimal training configuration. Experimental results demonstrate that the proposed method achieves excellent classification performance on five typical ground types—grass, cement, gravel, soil, and sand—under varying slope and force conditions, with an overall classification accuracy of 96.94%. Notably, it maintains high recognition accuracy even between ground types with similar contact mechanical properties, such as soil vs. grass and gravel vs. sand. This study provides a reliable perception foundation and technical support for terrain-adaptive control and motion strategy optimization of legged robots in real-world environments. Full article

Landslide InSAR monitoring is crucial for understanding the evolutionary mechanisms of geological disasters and enhancing risk prevention and control capabilities. However, for complex terrains and large-scale landslides, satellite-based SAR monitoring faces challenges such as a low observation frequency and limited spatial deformation interpretation capabilities. Additionally, two-dimensional monitoring struggles to comprehensively capture multi-directional movements. Taking the post-disaster monitoring of the landslide in Yunchuan, Sichuan Province, as an example, this study proposes a method for three-dimensional deformation dynamic monitoring by integrating dual-view MIMO ground-based synthetic aperture radar (GB-InSAR) data with high-resolution digital elevation model (DEM) data, successfully reconstructing the three-dimensional displacement fields in the east–west, north–south, and vertical directions. The results show that deformation in the landslide area evolved from slow accumulation to rapid failure, particularly concentrated in the middle and lower regions of the landslide. The average three-dimensional deformation of the main slip zone was approximately 60% greater than that of the original slope, with a maximum deformation of −100 mm. These deformation characteristics are highly consistent with the topographic structure and sliding direction. Field investigations further validated the radar data, with observed surface cracks and accumulation zones consistent with the high-deformation regions identified by the monitoring system. This system provides a solid foundation for geological disaster early warning systems, mechanism research, and risk prevention and control. Full article

The growing frequency of extreme rainstorms has increasingly exposed tunnels to flooding risks, underscoring the urgent need for effective flood prevention and drainage measures. In this context, an evaluation framework for tunnel flood hazards was developed based on three criteria—hazard-inducing factors, hazard-formative environment, and disaster-bearing body—encompassing nine specific indicators. This study employs the Decision Making Trial and Evaluation Laboratory (DEMATEL) method to construct a causal analysis model and assess the interrelationships and influence levels of risk factors associated with tunnel flooding disasters. Rainfall intensity (C1), rainfall duration (C2), ground elevation (C4), road slope (C5), and impervious surface area (C6) exhibit high causal values, acting as external input factors that drive the occurrence of tunnel flooding incidents. Conversely, water depth (C3), tunnel drainage capacity (C7), emergency flood control measures (C8), and infrastructure aging (C9) display high centrality values, serving as internal factors that reflect the tunnel’s flood prevention capability and determine the extent of disaster losses. Simply enhancing tunnel drainage capacity from the perspective of internal factors alone is insufficient; optimizing the tunnel’s flood resilience requires a combined consideration of both internal and external factors. Full article

Accurate stockpile volume estimation is essential for industries that manage bulk materials across various stages of production. Conventional ground-based methods such as walking wheels, total stations, Global Navigation Satellite Systems (GNSSs), and Terrestrial Laser Scanners (TLSs) have been widely used, but often involve significant safety risks, particularly when accessing hard-to-reach or hazardous areas. Unmanned Aerial Systems (UASs) provide a safer and more efficient alternative for surveying irregularly shaped stockpiles. This study evaluates UAS-based methods for estimating the volume of coal stockpiles at a storage facility near Cadiz, Ohio. Two sensor platforms were deployed: a Freefly Alta X quadcopter equipped with a Real-Time Kinematic (RTK) Light Detection and Ranging (LiDAR, active sensor) and a WingtraOne UAS with Post-Processed Kinematic (PPK) multispectral imaging (optical, passive sensor). Three approaches were compared: (1) LiDAR; (2) Structure-from-Motion (SfM) photogrammetry with a Digital Surface Model (DSM) and Digital Terrain Model (DTM) (SfM–DTM); and (3) an SfM-derived DSM combined with a kriging-interpolated DTM (SfM–intDTM). An automated boundary detection workflow was developed, integrating slope thresholding, Near-Infrared (NIR) spectral filtering, and Canny edge detection. Volume estimates from SfM–DTM and SfM–intDTM closely matched LiDAR-based reference estimates, with Root Mean Square Error (RMSE) values of 147.51 m³ and 146.18 m³, respectively. The SfM–intDTM approach achieved a Mean Absolute Percentage Error (MAPE) of ~2%, indicating strong agreement with LiDAR and improved accuracy compared to prior studies. A sensitivity analysis further highlighted the role of spatial resolution in volume estimation. While RMSE values remained consistent (141–162 m³) and the MAPE below 2.5% for resolutions between 0.06 m and 5 m, accuracy declined at coarser resolutions, with the MAPE rising to 11.76% at 10 m. This emphasizes the need to balance the resolution with the study objectives, geographic extent, and computational costs when selecting elevation data for volume estimation. Overall, UAS-based SfM photogrammetry combined with interpolated DTMs and automated boundary extraction offers a scalable, cost-effective, and accurate approach for stockpile volume estimation. The methodology is well-suited for both the high-precision monitoring of individual stockpiles and broader regional-scale assessments and can be readily adapted to other domains such as quarrying, agricultural storage, and forestry operations. Full article

Microrefugia can be critical in mediating biological responses to climate change, but the location and characteristics of these habitats are often poorly understood. Groundwater-dependent ecosystems (GDEs) represent critical microrefugia for species dependent on cool, moist habitats. However, knowledge of the distribution and stability of GDE microrefugia remains limited. This challenge is typified in the Pacific Northwest, where poorly studied cliff-face seeps harbor exceptional biodiversity despite their diminutive size (e.g., ~1–10 m width). To improve knowledge about these microrefugia, we regionally modeled their distribution and stability. We searched for cliff-face seeps across 1608 km of roads, trails, and watercourses in Washington and Idaho, while monitoring water availability plus air and water temperatures at selected sites. We detected 457 seeps through an iterative process of surveying, modeling, ground-truthing, and then remodeling the spatial distribution of seeps using boosted regression trees. Additionally, we used linear and generalized linear models to identify factors linked to seep thermal and hydrologic stability. Seeps were generally most concentrated in steep and low-lying areas (e.g., edges of canyon bottoms), and were also positively associated with glacial drift, basalt or graywacke bedrock types, high average slope within 300 m, and low average vapor pressure deficit. North-facing slopes were the best predictor of stable air and water temperatures and perennial seep discharge; low-lying areas also predicted stable seep water temperatures. These findings improve possibilities to manage seep microrefugia in the Pacific Northwest and safeguard their associated biodiversity under climate change. Lastly, our iterative method adapts techniques commonly used in species distribution modeling to provide an innovative framework for identifying inconspicuous microrefugia. Full article

Sewer systems are essential for sustainable infrastructure management, influencing environmental, social, and economic aspects. However, sewer network capacity is under significant pressure, with many systems overwhelmed by challenges such as climate change, ageing infrastructure, and increasing inflow and infiltration, particularly through groundwater infiltration (GWI). Current research in this area has primarily focused on general sewer performance, with limited attention to high-resolution, spatially explicit assessments of sewer exposure to GWI, highlighting a critical knowledge gap. This study responds to this gap by developing a high-resolution GWI assessment. This is achieved by integrating fuzzy-analytical hierarchy process (AHP) with geographic information systems (GISs) and machine learning (ML) to generate GWI probability maps across the Dawlish region, southwest United Kingdom, complemented by sensitivity analysis to identify the key drivers of sewer network vulnerability. To this end, 16 hydrological–hydrogeological thematic layers were incorporated: elevation, slope, topographic wetness index, rock, alluvium, soil, land cover, made ground, fault proximity, fault length, mass movement, river proximity, flood potential, drainage order, groundwater depth (GWD), and precipitation. A GWI probability index, ranging from 0 to 1, was developed for each 1 m × 1 m area per season. The model domain was then classified into high-, intermediate-, and low-GWI-risk zones using K-means clustering. A consistency ratio of 0.02 validated the AHP approach for pairwise comparisons, while locations of storm overflow (SO) discharges and model comparisons verified the final outputs. SOs predominantly coincided with areas of high GWI probability and high-risk zones. Comparison of AHP-weighted GIS output clustered via K-means with direct K-means clustering of AHP-weighted layers yielded a Kappa value of 0.70, with an 81.44% classification match. Sensitivity analysis identified five key factors influencing GWI scores: GWD, river proximity, flood potential, rock, and alluvium. The findings underscore that proxy-based geospatial and machine learning approaches offer an effective and scalable method for mapping sewer network exposure to GWI. By enabling high-resolution risk assessment, the proposed framework contributes a novel proxy and machine-learning-based screening tool for the management of smart cities. This supports predictive maintenance, optimised infrastructure investment, and proactive management of GWI in sewer networks, thereby reducing costs, mitigating environmental impacts, and protecting public health. In this way, the method contributes not only to improved sewer system performance but also to advancing the sustainability and resilience goals of smart cities. Full article

The prefabricated reinforced concrete columns–steel girder (RCS) hybrid frame structure using column–column connections is a kind of green and environmentally friendly building structure; its seismic performance is investigated. The seismic susceptibility and key influencing factors are systematically evaluated through the establishment of an analytical model and incremental dynamic analysis (IDA) method. A typical three-span, six-story prefabricated RCS hybrid frame structure is designed and numerically modeled with good agreement with the test data. Sa(T1,5%) and PGA double ground motion intensity parameters are selected for IDA analysis. A comparison between the quantile curve method and the conditional logarithmic standard deviation method reveals that using Sa(T1, 5%) as the intensity measure (IM) provides greater reliability for analyzing the vulnerability of the prefabricated RCS hybrid frame structure. The seismic probability demand model of the structure is fitted with Sa(T1,5%) as a parameter and the seismic fragility curves of the structure are plotted; this shows that the slope of the seismic fragility curves becomes smaller after the structure enters the elastic–plastic state, and exhibits good seismic performance. By studying the effects of concrete strength, longitudinal reinforcement strength, and the axial compression ratio on the seismic fragility, it can be seen that with the increase in concrete strength and longitudinal reinforcement strength, and the decrease in axial compression ratio, the overall ductility of the structure increases, the resistance to lateral deformation of the RCS hybrid frame structure is enhanced, and the seismic performance of the prefabricated structure is improved. Full article

Understanding spatial variability in crop yields across fields is critical for developing precision agricultural strategies that optimize productivity while reducing negative environmental impacts. This variability often arises from a complex interplay of topographic features, soil characteristics, and hydrological conditions. This study investigates the influence of hydro-topographic factors on corn and soybean yield variability from 2016 to 2023 at the well-managed experimental sites in Beltsville, Maryland. A high-resolution surface digital elevation model (DEM) and subsurface DEM derived from ground-penetrating radar (GPR) were used to quantify topographic factors (elevation, slope, and aspect) and hydrological factors (surface flow accumulation, depth from the surface to the subsurface-restricting layer, and distance from each crop pixel to the nearest subsurface flow pathway). Topographic variables alone explained yield variation, with a relative root mean square error (RRMSE) of 23.7% (r² = 0.38). Adding hydrological variables reduced the error to 15.3% (r² = 0.73), and further combining with remote sensing data improved the explanatory power to an RRMSE of 10.0% (r² = 0.87). Notably, even without subsurface data, incorporating surface-derived flow accumulation reduced the RRMSE to 18.4% (r² = 0.62), which is especially important for large-scale cropland applications where subsurface data are often unavailable. Annual spatial yield variation maps were generated using hydro-topographic variables, enabling the identification of long-term persistent yield regions (LTRs), which served as stable references to reduce spatial anomalies and enhance model robustness. In addition, by combining remote sensing data with interannual meteorological variables, prediction models were evaluated with and without hydro-topographic inputs. The inclusion of hydro-topographic variables improved spatial characterization and enhanced prediction accuracy, reducing error by an average of 4.5% across multiple model combinations. These findings highlight the critical role of hydro-topography in explaining spatial yield variation for corn and soybean and support the development of precise, site-specific management strategies to enhance productivity and resource efficiency. Full article

Accurate precipitation data are essential for hydrological modeling, climate studies, and water resource management. Indeed, there is an increasing focus on understanding shifts in precipitation events to monitor the risks of floods and droughts, as well as to ensure sustainable water resource management. This study compares four reanalysis and satellite precipitation products (ERA5-Land, CHIRPS, PERSIANN, and TerraClimate) with ground data from 2003 to 2022. Among the datasets evaluated, ERA5-Land has the best performance (overall) in reproducing ground data, with a minimal mean bias error (MBE) of 1.91 mm, the highest correlation coefficient (R² = 0.93), and the most favorable Nash–Sutcliffe efficiency (NSE = 0.93). In contrast, CHIRPS, PERSIANN, and TerraClimate significantly underestimate precipitation as compared to ground data. The categorical metrics also highlight ERA5-Land’s superior performance in identifying wet months. Spatial analysis shows that ERA5-Land and other datasets generally exhibit agreement regarding precipitation patterns. However, PERSIANN displays notable variances, particularly in northern regions, where it overestimates precipitation. To investigate possible changes in precipitation patterns, a longer period (1983–2022) is selected for trend analysis based on gridded precipitation products. Sen’s slope analysis does not reveal any significant annual precipitation trend. In autumn, the PERSIANN dataset indicates a significant increasing trend of +1.81 mm/year, which is also confirmed by ERA5-Land (+2.68 mm/year) and CHIRPS (+1.34 mm/year), although without statistical significance. The findings emphasize the need for more sophisticated satellite algorithms and integration with ground observations to improve precipitation accuracy. Full article